A review of spherical motion generation using either spherical parallel manipulators or spherical motors

Shaoping Bai, Xuerong Li, Jorge Angeles

Research output: Contribution to journalJournal articleResearchpeer-review

23 Citations (Scopus)

Abstract

In this paper the authors review spherical motion generation by means of parallel manipulators or spherical motors. The state-of-the-art of spherical-motion-generator kinematics, dynamics, design optimization and novel spherical mechanisms with emerging applications are reviewed. New research problems and future developments are discussed.
Original languageEnglish
JournalMechanism and Machine Theory
Volume140
Pages (from-to)377-388
ISSN0094-114X
DOIs
Publication statusPublished - 2019

Keywords

  • Spherical motion generation
  • Spherical parallel manipulators
  • Spherical motors
  • Forward and inverse kinematics
  • Exoskeletons

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